南方科技大学知识苑(SUSTech KC): High-order fully-actuated system approaches: Part IX. Generalised PID control and model reference tracking

题名	High-order fully-actuated system approaches: Part IX. Generalised PID control and model reference tracking
作者	Duan, Guangren1,2
通讯作者	Duan, Guangren
发表日期	2021-09-01
DOI	10.1080/00207721.2021.1970277
发表期刊	INTERNATIONAL JOURNAL OF SYSTEMS SCIENCE 影响因子和分区
ISSN	0020-7721
EISSN	1464-5319
卷号	53页码:652-674
摘要	Tracking control of general dynamical systems in high-order fully actuated (HOFA) system representation is solved. For the case of tracking a constant or slow time-varying signal in the presence of constant or slow time-varying disturbances, a generalised PID control scheme is proposed, which realises asymptotical tracking to a prescribed signal and also guarantees that the state derivatives of certain orders converge to the origin. For the case that the signal to be tracked is generated by a reference model, a model reference tracking (MRT) controller is presented, which relies on the solution to a type of generalised Sylvester matrix equations and guarantees the desired asymptotical tracking requirement. Due to the full-actuation property of the HOFA models, closed-loop systems under both control schemes are constant and linear. Furthermore, based on a general parametric solution to the type of Sylvester matrix equations and a general parametric eigenstructure assignment result, simple and complete parameterisation of the two types of control designs are provided, and feasibility conditions in terms of the system initial values for sub-fully actuated systems are also derived. An illustrative example is presented to demonstrate the application of the proposed approaches and their effects.
关键词	PID control model reference tracking fully actuated systems feasibility conditions parameterisation
相关链接	[来源记录]
收录类别	SCI ; EI
语种	英语
学校署名	第一 ; 通讯
资助项目	Major Program of National Natural Science Foundation of China[61690210,61690212] ; National Natural Science Foundation of China[61333003] ; SelfPlanned Task of State Key Laboratory of Robotics and System (HIT)[SKLRS201716A]
WOS研究方向	Automation & Control Systems ; Computer Science ; Operations Research & Management Science
WOS类目	Automation & Control Systems ; Computer Science, Theory & Methods ; Operations Research & Management Science
WOS记录号	WOS:000696874500001
出版者	TAYLOR & FRANCIS LTD
EI入藏号	20213810918925
EI主题词	Closed loop systems ; Dynamical systems ; Matrix algebra ; Three term control systems
EI分类号	Control Systems:731.1 ; Algebra:921.1 ; Systems Science:961
ESI学科分类	ENGINEERING
来源库	Web of Science
引用统计	被引频次[WOS]：57
成果类型	期刊论文
条目标识符	http://sustech.caswiz.com/handle/2SGJ60CL/253224
专题	南方科技大学工学院_电子与电气工程系
作者单位	1.Southern Univ Sci & Technol, Ctr Control Sci & Technol, Shenzhen, Peoples R China 2.Harbin Inst Technol, Ctr Control Theory & Guidance Technol, Harbin, Peoples R China
第一作者单位	南方科技大学
通讯作者单位	南方科技大学
第一作者的第一单位	南方科技大学
推荐引用方式 GB/T 7714	Duan, Guangren. High-order fully-actuated system approaches: Part IX. Generalised PID control and model reference tracking[J]. INTERNATIONAL JOURNAL OF SYSTEMS SCIENCE,2021,53:652-674.
APA	Duan, Guangren.(2021).High-order fully-actuated system approaches: Part IX. Generalised PID control and model reference tracking.INTERNATIONAL JOURNAL OF SYSTEMS SCIENCE,53,652-674.
MLA	Duan, Guangren."High-order fully-actuated system approaches: Part IX. Generalised PID control and model reference tracking".INTERNATIONAL JOURNAL OF SYSTEMS SCIENCE 53(2021):652-674.